I. Introduction
A Cable-Driven Parallel Robot (CDPR) is a type of parallel robot whose mobile platform is driven by cables. Controlling the lengths of the cables by means of winches, the platform can be brought to a desired position and orientation. Using cables instead of rigid links, CDPRs can notably have a large payload-to-weight ratio, a very large workspace, high dynamics, and reconfiguration capabilities e.g. [1]–[6].